Multi-Axis Coordinated Motion Instructions
504 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
Velocity Profile of Two Collinear Moves When the Second Move has a Lower
Velocity than the First Move and Termination Type 2 or 6 is Used
The following illustration show the velocity profile of two collinear moves using a
Command Tolerance (2) termination type. The second MCLM instruction has a
higher velocity than the first MCLM instruction. When the first MCLM
instruction reaches its Command Tolerance point, the move is over and the .PC
bit is set.
Velocity Profile of Two Collinear Moves When the Second Move has a
Higher Velocity than the First Move and Termination Type 2 or 6 is Used
Velocity Profiles for Collinear Moves with Termination Types 3, 4, or 5
This illustration shows a velocity profile of two collinear moves. The second
MCLM instruction has a lower velocity than the first MCLM instruction and one
of these termination types are used:
• No Decel (3)
• Follow Contour Velocity Constrained (4)
• Follow Contour Velocity Unconstrained (5)
When the first MCLM instruction reaches the deceleration point, it decelerates to
the programmed velocity of the second move. The first move is over and the .PC
bit is set.
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